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-rw-r--r--src/GipfelWidget.cxx4
-rw-r--r--src/ImageMetaData.H8
-rw-r--r--src/ImageMetaData.cxx42
-rw-r--r--src/Panorama.H3
-rw-r--r--src/Panorama.cxx1
-rw-r--r--src/ProjectionTangentialLSQ.cxx44
-rw-r--r--src/ViewParams.H4
-rw-r--r--src/lsq_funcs.mac28
8 files changed, 100 insertions, 34 deletions
diff --git a/src/GipfelWidget.cxx b/src/GipfelWidget.cxx
index 6b51aa5..782a4c3 100644
--- a/src/GipfelWidget.cxx
+++ b/src/GipfelWidget.cxx
@@ -101,6 +101,8 @@ GipfelWidget::load_image(char *file) {
set_tilt_angle(md->get_tilt());
set_projection((Projection::Projection_t) md->get_projection_type());
set_focal_length_35mm(md->get_focal_length_35mm());
+ md->get_distortion_params(&pan->parms.k0, &pan->parms.k1,
+ &pan->parms.u0, &pan->parms.v0);
delete md;
@@ -132,6 +134,8 @@ GipfelWidget::save_image(char *file) {
md->set_tilt(get_tilt_angle());
md->set_focal_length_35mm(get_focal_length_35mm());
md->set_projection_type((int) get_projection());
+ md->set_distortion_params(pan->parms.k0, pan->parms.k1,
+ pan->parms.u0, pan->parms.v0);
ret = md->save_image(img_file, file);
delete md;
diff --git a/src/ImageMetaData.H b/src/ImageMetaData.H
index 5796964..e2d8044 100644
--- a/src/ImageMetaData.H
+++ b/src/ImageMetaData.H
@@ -15,6 +15,10 @@ class ImageMetaData {
double direction;
double nick;
double tilt;
+ double k0;
+ double k1;
+ double u0;
+ double v0;
double focal_length_35mm;
double scale;
int projection_type;
@@ -37,6 +41,8 @@ class ImageMetaData {
double get_tilt();
double get_focal_length_35mm();
int get_projection_type();
+ void get_distortion_params(double *_k0, double *_k1,
+ double *_u0, double *_v0);
void set_longitude(double v);
void set_latitude(double v);
@@ -46,5 +52,7 @@ class ImageMetaData {
void set_tilt(double v);
void set_focal_length_35mm(double v);
void set_projection_type(int v);
+ void set_distortion_params(double _k0, double _k1,
+ double _u0, double _v0);
};
#endif
diff --git a/src/ImageMetaData.cxx b/src/ImageMetaData.cxx
index 6519239..8e7d381 100644
--- a/src/ImageMetaData.cxx
+++ b/src/ImageMetaData.cxx
@@ -24,6 +24,10 @@ ImageMetaData::ImageMetaData() {
direction = 0.0;
nick = 0.0;
tilt = 0.0;
+ k0 = 0.0;
+ k1 = 0.0;
+ u0 = 0.0;
+ v0 = 0.0;
focal_length_35mm = 35.0;
scale = NAN;
projection_type = 0;
@@ -124,7 +128,7 @@ ImageMetaData::load_image_exif(char *name) {
#define GIPFEL_FORMAT_1 "gipfel: longitude %lf, latitude %lf, height %lf, direction %lf, nick %lf, tilt %lf, scale %lf, projection type %d"
-#define GIPFEL_FORMAT_2 "gipfel: longitude %lf, latitude %lf, height %lf, direction %lf, nick %lf, tilt %lf, focal_length_35mm %lf, projection type %d"
+#define GIPFEL_FORMAT_2 "gipfel: longitude %lf, latitude %lf, height %lf, direction %lf, nick %lf, tilt %lf, focal_length_35mm %lf, projection type %d, k0 %lf, k1 %lf, u0 %lf, v0 %lf"
int
ImageMetaData::load_image_jpgcom(char *name) {
@@ -133,9 +137,9 @@ ImageMetaData::load_image_jpgcom(char *name) {
pid_t pid;
int status;
char buf[1024];
- double lo, la, he, dir, ni, ti, fr;
+ double lo, la, he, dir, ni, ti, fr, _k0, _k1, _u0, _v0;
int pt;
- int ret = 1;
+ int n, ret = 1;
args[0] = "rdjpgcom";
args[1] = name;
@@ -145,8 +149,8 @@ ImageMetaData::load_image_jpgcom(char *name) {
if (p) {
while (fgets(buf, sizeof(buf), p) != NULL) {
- if (sscanf(buf, GIPFEL_FORMAT_2,
- &lo, &la, &he, &dir, &ni, &ti, &fr, &pt) >= 7) {
+ if ((n = sscanf(buf, GIPFEL_FORMAT_2,
+ &lo, &la, &he, &dir, &ni, &ti, &fr, &pt, &_k0, &_k1, &_u0, &_v0)) >= 7) {
longitude = lo;
latitude = la;
@@ -157,6 +161,13 @@ ImageMetaData::load_image_jpgcom(char *name) {
focal_length_35mm = fr;
projection_type = pt;
+ if (n == 11) {
+ k0 = _k0;
+ k1 = _k1;
+ u0 = _u0;
+ v0 = _v0;
+ }
+
ret = 0;
break;
@@ -226,7 +237,8 @@ ImageMetaData::save_image_jpgcom(char *in_img, char *out_img) {
nick,
tilt,
focal_length_35mm,
- projection_type);
+ projection_type,
+ k0, k1, u0, v0);
// try to save gipfel data in JPEG comment section
args[0] = "wrjpgcom";
@@ -338,3 +350,21 @@ void
ImageMetaData::set_projection_type(int v) {
projection_type = v;
}
+
+void
+ImageMetaData::get_distortion_params(double *_k0, double *_k1,
+ double *_u0, double *_v0) {
+ *_k0 = k0;
+ *_k1 = k1;
+ *_u0 = u0;
+ *_v0 = v0;
+}
+
+void
+ImageMetaData::set_distortion_params(double _k0, double _k1,
+ double _u0, double _v0) {
+ k0 = _k0;
+ k1 = _k1;
+ u0 = _u0;
+ v0 = _v0;
+}
diff --git a/src/Panorama.H b/src/Panorama.H
index 505c56d..bfb39b8 100644
--- a/src/Panorama.H
+++ b/src/Panorama.H
@@ -23,7 +23,6 @@ class Panorama {
Hills *mountains;
Hills *close_mountains;
Hills *visible_mountains;
- ViewParams parms;
Projection::Projection *proj;
Projection::Projection_t projection_type;
@@ -62,6 +61,8 @@ class Panorama {
double pi_d, deg2rad;
public:
+ ViewParams parms;
+
Panorama();
~Panorama();
diff --git a/src/Panorama.cxx b/src/Panorama.cxx
index a5c4baf..b227ebf 100644
--- a/src/Panorama.cxx
+++ b/src/Panorama.cxx
@@ -598,4 +598,3 @@ Panorama::get_coordinates(double a_view, double a_nick, double *x, double *y) {
return 0;
}
-
diff --git a/src/ProjectionTangentialLSQ.cxx b/src/ProjectionTangentialLSQ.cxx
index 8c48105..243d0dc 100644
--- a/src/ProjectionTangentialLSQ.cxx
+++ b/src/ProjectionTangentialLSQ.cxx
@@ -24,8 +24,6 @@ static double sec(double a) {
#include "lsq_funcs.c"
-static double k0 = 0.0, k1 = 0.0;
-
static double
comp_tilt(double tan_nick_view, double tan_dir_view, double n_scale,
double tan_nick_m, double tan_dir_m,
@@ -65,11 +63,15 @@ ProjectionTangentialLSQ::comp_params(const Hills *h, ViewParams *parms) {
parms->a_center = a_center_tmp;
parms->scale = scale_tmp;
parms->a_nick = a_nick_tmp;
+ parms->a_tilt = 0.0;
+ parms->k0 = 0.0;
+ parms->k1 = 0.0;
+ parms->u0 = 0.0;
+ parms->v0 = 0.0;
if (angle_dist(parms->a_center, m1->alph) > pi_d/2.0) {
parms->a_center = parms->a_center + pi_d;
}
-
lsq(h, parms);
return 0;
@@ -101,7 +103,7 @@ struct data {
const Hills *h;
};
-#define CALL(A) A(c_view, c_nick, c_tilt, scale, k0, k1, m->a_view, m->a_nick)
+#define CALL(A) A(c_view, c_nick, c_tilt, scale, k0, k1, u0, v0, m->a_view, m->a_nick)
static int
lsq_f (const gsl_vector * x, void *data, gsl_vector * f) {
@@ -113,6 +115,8 @@ lsq_f (const gsl_vector * x, void *data, gsl_vector * f) {
double scale = gsl_vector_get (x, 3);
double k0 = gsl_vector_get (x, 4);
double k1 = gsl_vector_get (x, 5);
+ double u0 = gsl_vector_get (x, 6);
+ double v0 = gsl_vector_get (x, 7);
for (int i=0; i<dat->h->get_num(); i++) {
Hill *m = dat->h->get(i);
@@ -138,6 +142,8 @@ lsq_df (const gsl_vector * x, void *data, gsl_matrix * J) {
double scale = gsl_vector_get (x, 3);
double k0 = gsl_vector_get (x, 4);
double k1 = gsl_vector_get (x, 5);
+ double u0 = gsl_vector_get (x, 6);
+ double v0 = gsl_vector_get (x, 7);
for (int i=0; i<dat->h->get_num(); i++) {
Hill *m = dat->h->get(i);
@@ -148,6 +154,8 @@ lsq_df (const gsl_vector * x, void *data, gsl_matrix * J) {
gsl_matrix_set (J, 2*i, 3, CALL(mac_x_dscale));
gsl_matrix_set (J, 2*i, 4, CALL(mac_x_dk0));
gsl_matrix_set (J, 2*i, 5, CALL(mac_x_dk1));
+ gsl_matrix_set (J, 2*i, 6, CALL(mac_x_du0));
+ gsl_matrix_set (J, 2*i, 7, CALL(mac_x_dv0));
gsl_matrix_set (J, 2*i+1, 0, CALL(mac_y_dc_view));
gsl_matrix_set (J, 2*i+1, 1, CALL(mac_y_dc_nick));
@@ -155,6 +163,8 @@ lsq_df (const gsl_vector * x, void *data, gsl_matrix * J) {
gsl_matrix_set (J, 2*i+1, 3, CALL(mac_y_dscale));
gsl_matrix_set (J, 2*i+1, 4, CALL(mac_y_dk0));
gsl_matrix_set (J, 2*i+1, 5, CALL(mac_y_dk1));
+ gsl_matrix_set (J, 2*i+1, 6, CALL(mac_y_du0));
+ gsl_matrix_set (J, 2*i+1, 7, CALL(mac_y_dv0));
}
return GSL_SUCCESS;
@@ -175,7 +185,7 @@ ProjectionTangentialLSQ::lsq(const Hills *h, ViewParams *parms) {
gsl_multifit_fdfsolver *s;
gsl_multifit_function_fdf f;
struct data dat;
- double x_init[6];
+ double x_init[8];
gsl_vector_view x;
int status;
@@ -185,10 +195,12 @@ ProjectionTangentialLSQ::lsq(const Hills *h, ViewParams *parms) {
x_init[1] = parms->a_nick;
x_init[2] = parms->a_tilt;
x_init[3] = parms->scale;
- x_init[4] = k0;
- x_init[5] = k1;
+ x_init[4] = parms->k0;
+ x_init[5] = parms->k1;
+ x_init[6] = parms->u0;
+ x_init[7] = parms->v0;
- x = gsl_vector_view_array (x_init, 6);
+ x = gsl_vector_view_array (x_init, 8);
f.f = &lsq_f;
f.df = &lsq_df;
@@ -198,7 +210,7 @@ ProjectionTangentialLSQ::lsq(const Hills *h, ViewParams *parms) {
f.params = &dat;
T = gsl_multifit_fdfsolver_lmsder;
- s = gsl_multifit_fdfsolver_alloc (T, h->get_num() * 2, 6);
+ s = gsl_multifit_fdfsolver_alloc (T, h->get_num() * 2, 8);
gsl_multifit_fdfsolver_set (s, &f, &x.vector);
for (int i=0; i<30; i++) {
@@ -215,12 +227,16 @@ ProjectionTangentialLSQ::lsq(const Hills *h, ViewParams *parms) {
parms->a_nick = gsl_vector_get(s->x, 1);
parms->a_tilt = gsl_vector_get(s->x, 2);
parms->scale = gsl_vector_get(s->x, 3);
- k0 = gsl_vector_get(s->x, 4);
- k1 = gsl_vector_get(s->x, 5);
+ parms->k0 = gsl_vector_get(s->x, 4);
+ parms->k1 = gsl_vector_get(s->x, 5);
+ parms->u0 = gsl_vector_get(s->x, 6);
+ parms->v0 = gsl_vector_get(s->x, 7);
gsl_multifit_fdfsolver_free (s);
- fprintf(stderr, "k0 %f k1 %f\n", k0, k1);
+ fprintf(stderr, "k0 %f k1 %f u0 %f v0 %f\n",
+ parms->k0, parms->k1, parms->u0, parms->v0);
+
return 0;
}
@@ -229,9 +245,9 @@ ProjectionTangentialLSQ::get_coordinates(double a_view, double a_nick,
const ViewParams *parms, double *x, double *y) {
*x = mac_x(parms->a_center, parms->a_nick, parms->a_tilt, parms->scale,
- k0, k1, a_view, a_nick);
+ parms->k0, parms->k1, parms->u0, parms->v0, a_view, a_nick);
*y = mac_y(parms->a_center, parms->a_nick, parms->a_tilt, parms->scale,
- k0, k1, a_view, a_nick);
+ parms->k0, parms->k1, parms->u0, parms->v0, a_view, a_nick);
}
double
diff --git a/src/ViewParams.H b/src/ViewParams.H
index d321253..ee18fa6 100644
--- a/src/ViewParams.H
+++ b/src/ViewParams.H
@@ -13,6 +13,10 @@ class ViewParams {
double scale;
double a_nick;
double a_tilt;
+ double k0;
+ double k1;
+ double u0;
+ double v0;
};
#endif
diff --git a/src/lsq_funcs.mac b/src/lsq_funcs.mac
index d57008e..3a2cb33 100644
--- a/src/lsq_funcs.mac
+++ b/src/lsq_funcs.mac
@@ -2,26 +2,26 @@
* This is the basic pinhole projection model with distortion correction
*/
-x_undist_unrot : tan(m_view - c_view) $
-y_undist_unrot : tan(c_nick - m_nick) $
-d : y_undist_unrot ^ 2 + x_undist_unrot ^ 2$
-dist_fact : d ^ 2 * k1 + d * k0$
-x_unrot : x_undist_unrot * (1 + dist_fact)$
-y_unrot : y_undist_unrot * (1 + dist_fact)$
-x : scale * (y_unrot * sin(c_tilt) + x_unrot * cos(c_tilt))$
-y : scale * (y_unrot * cos(c_tilt) - x_unrot * sin(c_tilt))$
+x_undist_unrot : tan(m_view - c_view);
+y_undist_unrot : tan(c_nick - m_nick);
+d : (u0 - x_undist_unrot) ^ 2 + (v0 - y_undist_unrot) ^ 2;
+dist_fact : d ^ 2 * k1 + d * k0;
+x_unrot : x_undist_unrot * (1 + dist_fact);
+y_unrot : y_undist_unrot * (1 + dist_fact);
+x : scale * (y_unrot * sin(c_tilt) + x_unrot * cos(c_tilt));
+y : scale * (y_unrot * cos(c_tilt) - x_unrot * sin(c_tilt));
/*
* Some mangling for C code generation
*/
-x_expand : trigexpand(x)$
-y_expand : trigexpand(y)$
+x_expand : trigexpand(x);
+y_expand : trigexpand(y);
-args: "(double c_view, double c_nick, double c_tilt, double scale, double k0, double k1, double m_view, double m_nick)"$
+args: "(double c_view, double c_nick, double c_tilt, double scale, double k0, double k1, double u0, double v0, double m_view, double m_nick)";
printfunc(name, expression) := sprint("static double", name, args, "{ return ", string(subst(pow, "^", expression)), ";}", "
-")$
+");
printfunc("mac_x", x_expand);
printfunc("mac_y", y_expand);
@@ -32,9 +32,13 @@ printfunc("mac_x_dc_tilt", diff(x_expand, c_tilt));
printfunc("mac_x_dscale", diff(x_expand, scale));
printfunc("mac_x_dk0", diff(x_expand, k0));
printfunc("mac_x_dk1", diff(x_expand, k1));
+printfunc("mac_x_du0", diff(x_expand, u0));
+printfunc("mac_x_dv0", diff(x_expand, v0));
printfunc("mac_y_dc_view", diff(y_expand, c_view));
printfunc("mac_y_dc_nick", diff(y_expand, c_nick));
printfunc("mac_y_dc_tilt", diff(y_expand, c_tilt));
printfunc("mac_y_dscale", diff(y_expand, scale));
printfunc("mac_y_dk0", diff(y_expand, k0));
printfunc("mac_y_dk1", diff(y_expand, k1));
+printfunc("mac_y_du0", diff(x_expand, u0));
+printfunc("mac_y_dv0", diff(x_expand, v0));
generated by cgit v1.2.3 (git 2.25.1) at 2024-09-19 19:08:07 +0000